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[ORB_SLAM2] SetPose, UpdatePoseMatrices

2022-08-02 02:08:00 【Xiaoqiu SLAM practical tutorial】

SetPose

void Frame::SetPose(cv::Mat Tcw){mTcw = Tcw.clone();UpdatePoseMatrices();}

UpdatePoseMatrices

void Frame::UpdatePoseMatrices(){mRcw = mTcw.rowRange(0,3).colRange(0,3);mRwc = mRcw.t();mtcw = mTcw.rowRange(0,3).col(3);// world to cameramOw = -mRcw.t()*mtcw;// camera to the world}world to camera mtcw/n[0;0;0]Camera to World mOw/n[0;0;0]
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